corexz: Add CoreXZ kinematics (#3129)

Add a CoreXZ kinematics

Signed-off-by: Maks Zolin <mzolin@vorondesign.com>

5 files changed, 234 insertions, 7 deletions

diff --git a/config/example-corexz.cfg b/config/example-corexz.cfg
new file mode 100644
index 00000000..a0cd9b85
--- /dev/null
+++ b/config/example-corexz.cfg
@@ -0,0 +1,81 @@
+# This file serves as documentation for config parameters of corexz
+# style printers. One may copy and edit this file to configure a new
+# corexz printer. Only parameters unique to corexz printers are
+# described here - see the "example.cfg" file for description of common
+# config parameters.
+
+# DO NOT COPY THIS FILE WITHOUT CAREFULLY READING AND UPDATING IT
+# FIRST. Incorrectly configured parameters may cause damage.
+
+# The stepper_x section is used to describe the X axis as well as the
+# stepper controlling the X+Z movement.
+[stepper_x]
+step_pin: ar54
+dir_pin: ar55
+enable_pin: !ar38
+step_distance: .01
+endstop_pin: ^ar3
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: ar60
+dir_pin: ar61
+enable_pin: !ar56
+step_distance: .01
+endstop_pin: ^ar14
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+# The stepper_z section is used to describe the Z axis as well as the
+# stepper controlling the X-Z movement.
+[stepper_z]
+step_pin: ar46
+dir_pin: ar48
+enable_pin: !ar62
+step_distance: .0025
+endstop_pin: ^ar18
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: ar26
+dir_pin: ar28
+enable_pin: !ar24
+step_distance: .0022
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: ar10
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: analog13
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: ar8
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: analog14
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: ar9
+
+[mcu]
+serial: /dev/ttyACM0
+pin_map: arduino
+
+[printer]
+kinematics: corexz
+#   This option must be "corexz" for corexz printers.
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 50
+max_z_accel: 30
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py
index d87c0b31..b29b8e68 100644
--- a/klippy/chelper/__init__.py
+++ b/klippy/chelper/__init__.py
@@ -16,8 +16,9 @@ COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC"
                " -o %s %s")
 SOURCE_FILES = [
     'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c',
-    'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_polar.c',
-    'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c', 'kin_shaper.c',
+    'kin_cartesian.c', 'kin_corexy.c', 'kin_corexz.c', 'kin_delta.c',
+    'kin_polar.c', 'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c',
+    'kin_shaper.c',
 ]
 DEST_LIB = "c_helper.so"
 OTHER_FILES = [
@@ -78,6 +79,10 @@ defs_kin_corexy = """
     struct stepper_kinematics *corexy_stepper_alloc(char type);
 """
 
+defs_kin_corexz = """
+    struct stepper_kinematics *corexz_stepper_alloc(char type);
+"""
+
 defs_kin_delta = """
     struct stepper_kinematics *delta_stepper_alloc(double arm2
         , double tower_x, double tower_y);
@@ -165,11 +170,10 @@ defs_std = """
 """
 
 defs_all = [
-    defs_pyhelper, defs_serialqueue, defs_std,
-    defs_stepcompress, defs_itersolve, defs_trapq,
-    defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_polar,
-    defs_kin_rotary_delta, defs_kin_winch, defs_kin_extruder,
-    defs_kin_shaper,
+    defs_pyhelper, defs_serialqueue, defs_std, defs_stepcompress,
+    defs_itersolve, defs_trapq, defs_kin_cartesian, defs_kin_corexy,
+    defs_kin_corexz, defs_kin_delta, defs_kin_polar, defs_kin_rotary_delta,
+    defs_kin_winch, defs_kin_extruder, defs_kin_shaper,
 ]
 
 # Return the list of file modification times
diff --git a/klippy/chelper/kin_corexz.c b/klippy/chelper/kin_corexz.c
new file mode 100644
index 00000000..320dc239
--- /dev/null
+++ b/klippy/chelper/kin_corexz.c
@@ -0,0 +1,40 @@
+// CoreXZ kinematics stepper pulse time generation
+//
+// Copyright (C) 2020  Maks Zolin <mzolin@vorondesign.com>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include <stdlib.h> // malloc
+#include <string.h> // memset
+#include "compiler.h" // __visible
+#include "itersolve.h" // struct stepper_kinematics
+#include "trapq.h" // move_get_coord
+
+static double
+corexz_stepper_plus_calc_position(struct stepper_kinematics *sk, struct move *m
+                                  , double move_time)
+{
+    struct coord c = move_get_coord(m, move_time);
+    return c.x + c.z;
+}
+
+static double
+corexz_stepper_minus_calc_position(struct stepper_kinematics *sk, struct move *m
+                                   , double move_time)
+{
+    struct coord c = move_get_coord(m, move_time);
+    return c.x - c.z;
+}
+
+struct stepper_kinematics * __visible
+corexz_stepper_alloc(char type)
+{
+    struct stepper_kinematics *sk = malloc(sizeof(*sk));
+    memset(sk, 0, sizeof(*sk));
+    if (type == '+')
+        sk->calc_position_cb = corexz_stepper_plus_calc_position;
+    else if (type == '-')
+        sk->calc_position_cb = corexz_stepper_minus_calc_position;
+    sk->active_flags = AF_X | AF_Z;
+    return sk;
+}
diff --git a/klippy/kinematics/corexz.py b/klippy/kinematics/corexz.py
new file mode 100644
index 00000000..8addecf7
--- /dev/null
+++ b/klippy/kinematics/corexz.py
@@ -0,0 +1,101 @@
+# Code for handling the kinematics of corexz robots
+#
+# Copyright (C) 2020  Maks Zolin <mzolin@vorondesign.com>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging, math
+import stepper, homing
+
+class CoreXZKinematics:
+    def __init__(self, toolhead, config):
+        # Setup axis rails
+        self.rails = [ stepper.PrinterRail(config.getsection('stepper_x')),
+                       stepper.PrinterRail(config.getsection('stepper_y')),
+                       stepper.PrinterRail(config.getsection('stepper_z')) ]
+        self.rails[0].get_endstops()[0][0].add_stepper(
+            self.rails[2].get_steppers()[0])
+        self.rails[2].get_endstops()[0][0].add_stepper(
+            self.rails[0].get_steppers()[0])
+        self.rails[0].setup_itersolve('corexz_stepper_alloc', '+')
+        self.rails[1].setup_itersolve('cartesian_stepper_alloc', 'y')
+        self.rails[2].setup_itersolve('corexz_stepper_alloc', '-')
+        for s in self.get_steppers():
+            s.set_trapq(toolhead.get_trapq())
+            toolhead.register_step_generator(s.generate_steps)
+        config.get_printer().register_event_handler("stepper_enable:motor_off",
+                                                    self._motor_off)
+        # Setup boundary checks
+        max_velocity, max_accel = toolhead.get_max_velocity()
+        self.max_z_velocity = config.getfloat(
+            'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
+        self.max_z_accel = config.getfloat(
+            'max_z_accel', max_accel, above=0., maxval=max_accel)
+        self.limits = [(1.0, -1.0)] * 3
+        # Setup stepper max halt velocity
+        max_halt_velocity = toolhead.get_max_axis_halt()
+        max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.)
+        max_xy_accel = max_accel * math.sqrt(2.)
+        self.rails[0].set_max_jerk(max_xy_halt_velocity, max_xy_accel)
+        self.rails[1].set_max_jerk(max_xy_halt_velocity, max_xy_accel)
+        self.rails[2].set_max_jerk(max_xy_halt_velocity, max_xy_accel)
+    def get_steppers(self):
+        return [s for rail in self.rails for s in rail.get_steppers()]
+    def calc_tag_position(self):
+        pos = [rail.get_tag_position() for rail in self.rails]
+        return [0.5 * (pos[0] + pos[2]), pos[1], 0.5 * (pos[0] - pos[2])]
+    def set_position(self, newpos, homing_axes):
+        for i, rail in enumerate(self.rails):
+            rail.set_position(newpos)
+            if i in homing_axes:
+                self.limits[i] = rail.get_range()
+    def note_z_not_homed(self):
+        # Helper for Safe Z Home
+        self.limits[2] = (1.0, -1.0)
+    def home(self, homing_state):
+        # Each axis is homed independently and in order
+        for axis in homing_state.get_axes():
+            rail = self.rails[axis]
+            # Determine movement
+            position_min, position_max = rail.get_range()
+            hi = rail.get_homing_info()
+            homepos = [None, None, None, None]
+            homepos[axis] = hi.position_endstop
+            forcepos = list(homepos)
+            if hi.positive_dir:
+                forcepos[axis] -= 1.5 * (hi.position_endstop - position_min)
+            else:
+                forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
+            # Perform homing
+            homing_state.home_rails([rail], forcepos, homepos)
+    def _motor_off(self, print_time):
+        self.limits = [(1.0, -1.0)] * 3
+    def _check_endstops(self, move):
+        end_pos = move.end_pos
+        for i in (0, 1, 2):
+            if (move.axes_d[i]
+                and (end_pos[i] < self.limits[i][0]
+                     or end_pos[i] > self.limits[i][1])):
+                if self.limits[i][0] > self.limits[i][1]:
+                    raise homing.EndstopMoveError(
+                        end_pos, "Must home axis first")
+                raise homing.EndstopMoveError(end_pos)
+    def check_move(self, move):
+        limits = self.limits
+        xpos, ypos = move.end_pos[:2]
+        if (xpos < limits[0][0] or xpos > limits[0][1]
+            or ypos < limits[1][0] or ypos > limits[1][1]):
+            self._check_endstops(move)
+        if not move.axes_d[2]:
+            # Normal XY move - use defaults
+            return
+        # Move with Z - update velocity and accel for slower Z axis
+        self._check_endstops(move)
+        z_ratio = move.move_d / abs(move.axes_d[2])
+        move.limit_speed(
+            self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
+    def get_status(self, eventtime):
+        axes = [a for a, (l, h) in zip("xyz", self.limits) if l <= h]
+        return {'homed_axes': "".join(axes)}
+
+def load_kinematics(toolhead, config):
+    return CoreXZKinematics(toolhead, config)
diff --git a/test/klippy/printers.test b/test/klippy/printers.test
index b8c5f441..c77e720b 100644
--- a/test/klippy/printers.test
+++ b/test/klippy/printers.test
@@ -5,6 +5,7 @@ GCODE move.gcode
 DICTIONARY atmega2560.dict
 CONFIG ../../config/example.cfg
 CONFIG ../../config/example-corexy.cfg
+CONFIG ../../config/example-corexz.cfg
 CONFIG ../../config/example-delta.cfg
 CONFIG ../../config/example-rotary-delta.cfg
 CONFIG ../../config/example-winch.cfg